A hybrid adaptive control strategy for a smart prosthetic hand

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To access the full text documents, please follow this link: http://hdl.handle.net/2117/7795

dc.contributor	Institut de Robòtica i Informàtica Industrial
dc.contributor.author	Chen, Cheng-Hung
dc.contributor.author	Naidu, D. Subbaram
dc.contributor.author	Pérez Gracia, Alba
dc.contributor.author	Schoen, Marco P.
dc.date	2009-09
dc.identifier.citation	Chen , C. [et al.]. A hybrid adaptive control strategy for a smart prosthetic hand. A: IEEE Engineering in Medicine and Biology Society (EMBS). Conference. "31st Annual International Conference of the IEEE Engineering in Medicine and Biology Society". Minneapolis, Minnesota: 2009, p. 5056-5059.
dc.identifier.citation	978-1-4244-3296-7
dc.identifier.uri	http://hdl.handle.net/2117/7795
dc.language.iso	eng
dc.relation	http://dx.doi.org/10.1109/IEMBS.2009.5334260
dc.rights	info:eu-repo/semantics/openAccess
dc.subject	Àrees temàtiques de la UPC::Informàtica::Robòtica
dc.subject	Robotics in medicine
dc.subject	Robòtica mèdica -- Congressos
dc.subject	Classificació INSPEC::Automation::Robots::Medical robotics
dc.title	A hybrid adaptive control strategy for a smart prosthetic hand
dc.type	info:eu-repo/semantics/publishedVersion
dc.type	info:eu-repo/semantics/conferenceObject
dc.description.abstract	This paper presents a hybrid of a soft computing technique of adaptive neuro-fuzzy inference system (ANFIS) and a hard computing technique of adaptive control for a two- dimensional movement of a prosthetic hand with a thumb and index ﬁnger. In articular, ANFIS is used for inverse kinematics, and the adaptive control is used for linearized dynamics to minimize tracking error. The simulations of this hybrid controller, when compared with the proportional-integral-derivative (PID) controller showed enhanced performance. Work is in progress to extend this methodology to a ﬁve-ﬁngered, three-dimensional prosthetic hand.
dc.description.abstract	Peer Reviewed

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